Control of three-link underactuated manipulators using a switching method of fuzzy energy regions

In general, manipulators used for industry and in academic laboratories have actuators to drive each joint. On the other hand, underactuated manipulators handled by our research have some passive or free joints without actuators and brakes. We recently developed a switching method of fuzzy energy regions to control such manipulators. In such a method, it is necessary to design parameters related to energy regions and the gains of some partly stable controllers based on the computed torque method. Here, the switching method is applied for a three-link underactuated manipulator. We optimize such design parameters related to fuzzy energy regions by a genetic algorithm. The effectiveness of the present method is illustrated with some simulations. This work was presented in part at the 12th International Symposium on Artificial Life and Robotics, Oita, Japan, January 25–27, 2007     

Sparse least squares support vector training in the reduced empirical feature space

In this paper we discuss sparse least squares support vector machines (sparse LS SVMs) trained in the empirical feature space, which is spanned by the mapped training data. First, we show that the kernel associated with the empirical feature space gives the same value with that of the kernel associated with the feature space if one of the arguments of the kernels is mapped into the empirical feature space by the mapping function associated with the feature space. Using this fact, we show that training and testing of kernel-based methods can be done in the empirical feature space and that training of LS SVMs in the empirical feature space results in solving a set of linear equations. We then derive the sparse LS SVMs restricting the linearly independent training data in the empirical feature space by the Cholesky factorization. Support vectors correspond to the selected training data and they do not change even if the value of the margin parameter is changed. Thus for linear kernels, the number of support vectors is the number of input variables at most. By computer experiments we show that we can reduce the number of support vectors without deteriorating the generalization ability.

Learning commutative deterministic finite state automata in polynomial time

We consider the problem of learning the commutative subclass of regular languages in the on-line model of predicting {0,1∼-valued functions from examples and reinforcements due to Littlestone [7,4]. We show that the entire class of commutative deterministic finite state automata (CDFAs) of an arbitrary alphabet sizek is predictable inO(s ^k) time with the worst case number of mistakes bounded above byO(s ^kk logs), wheres is the number of states in the target DFA. As a corollary, this result implies that the class of CDFAs is also PAC-learnable from random labeled examples in timeO(s ^k) with sample complexity, using a different class of representations. The mistake bound of our algorithm is within a polynomial, for a fixed alphabet size, of the lower boundO(s+k) we obtain by calculating the VC-dimension of the class. Our result also implies the predictability of the class of finite sets of commutative DFAs representing the finite unions of the languages accepted by the respective DFAs. Part of this work was supported by the Office of Naval Research under contract number N00014-87-K-0401 while the author was at the Department of Computer and Information Science, University of Pennsylvania, and N0014-86-K-0454 while at the Department of Computer and Information Sciences, U.C. Santa Cruz. The author’s email address is abe@IBL.CL.nec.co.jp     

Effects of hematocrit variations on cerebral blood flow and oxygen transport in ischemic cerebrovascular disease

The contribution of hematocrit (Ht) changes on cerebral blood flow (CBF) and brain oxygenation in ischemic cerebrovascular disease is still controversial. In the present study, effects of Ht variations of CBF and oxygen delivery were investigated in patients with ischemic cerebrovascular disease. CBF was measured by the Xe-133 intracarotid injection method in 27 patients, whose diagnoses included completed stroke, reversible ischemic neurological deficit, and transient ischemic attack. Ht values in the patients ranged from 31 to 53%. There was a significant inverse correlation between CBF and Ht in these Ht ranges. Oxygen delivery, i.e., the product of arterial oxygen content and CBF, increased with Ht elevation and reached the maximum level in the Ht range of 40-45% and then declined. The CBF-Ht and oxygen transport-Ht relations observed in our study were similar to those in the glass-tube model studies by other workers rather than to those in intact animal experiments. From these results, it is conceivable that in ischemic cerebrovascular disease, the vasomotor adjustment was impaired in such a manner that the relations among Ht, CBF, and oxygen delivery were different from those in healthy subjects. Further, an "optimal hematocrit" for brain oxygenation was also discussed.     

Voltammetric study of electrocatalysis for dioxygen reduction by trinuclear rutheniumammine complex confined in a polymer membrane

Electrocatalytic O₂ reduction was studied using a modified electrode coated with a Nafion membrane (Nf) dispersing a trinuclear ruthenium ammine complex ([(NH₃)₅Ru^IIIORu^IV(NH₃)₄ORu^III(NH₃)₅]Cl₆, Ru-red). When measuring cyclic voltammogram under O₂ atmosphere (at 0.5 mV s⁻¹), catalytic currents due to O₂ reduction were found to develop below −0.2 V (vs. Ag/AgCl). Since Ru-red undergoes irreversible decomposition into the mononuclear complexes via the reduced state (Ru^III-Ru^III-Ru^III) (∼−0.1 V), it is suggested that the electrocatalysis originates from the decomposed species (initial active species: Ru^II(NH₃)₅(OH₂) and Ru^II(NH₃)₄(OH₂)₂) rather than from the Ru-red. Although the present electrocatalyst was also applied to H₂O₂ reduction system, the catalytic activity was found to be poor from the voltammetric behavior. It appeared that the kinetics of the electrocatalysis is much faster in the O₂ reduction than in the H₂O₂ one. A selective and direct catalysis for O₂ reduction into H₂O was suggested from a ring-disk voltammogram to take place by an aggregate of the mononuclear ruthenium complexes in the polymer matrix. In addition, it was found that electrocatalytic O₂ reduction involves a slow kinetic process, so that factors affecting the overall kinetics were discussed in terms of the catalysis mechanism.     

Significant prognostic factors in breast cancer of Japanese women: special reference to nuclear grade and sinus histiocytosis

Progress of psychotherapy and of related behaviour sciences makes evident the importance of a better understanding of human relations. But psychoanalysis finds it hard to describe interpersonal processes without transference. In order to remain within the conceptional frame of metapsychology it has to see interaction between individuals as the oral, aggressive or sexual cathexis of an object or as satisfaction or denial of the subject by the object. The structure of the "ego", which--in analogy to medical thinking--is conceived as an organ with its functions, is considered to have no interpersonal activities. The "ego" of the classic psychoanalytic theory is chiefly occupied with itself. It has to care for its egoistical interests and to guarantee its self-preservation. As an auxiliary and meanwhile popular concept the "self" has been introduced to describe object-relations. This concept is not sharply defined. Due to its metapsychological implications it produces additional theoretical difficulties. Linguistic studies show that every inventory of words implies a certain insight into reality. For this reason the metapsychological machine-like concept of psychic structures does not permit new ideas about interpersonal relations. If we leave metapsychology and base on colloquial speech we see that the experience of "I" is much more related to persons than the rather autistic concept of the "ego" shows. Further we learn that self-preservation cannot be an egoistical interest; it depends on the attachment to others. All feelings of self-esteem depend much more on interpersonal relations than on "narcissistic regulations". From these experiences three conclusions are derived: a) One of the main qualities of the ego is the relatedness to persons. b) The concept of narcissistic regulation as a successor of primary narcissism is no longer useful. Narcissistic traits develop as the secundary compensations if the individual failed to build up satisfactory interpersonal relations. c) The revision of (a) ego-psychology and (b) theory of narcissism asks for modifications of the therapeutic technique, where now the interest is especially concentrated on interpersonal problems instead on the pathology of the ego.     

SiO2 thin film deposition on the inner surface of a poly(tetra-fluoroethylene) narrow tube by atmospheric-pressure glow microplasma

SiO₂ thin films were deposited on the inner surfaces of a commercial poly(tetrafluoroethylene) narrow tube with an inner diameter of 0.5 mm using tetraethoxysilane/O₂ feedstock gases and He carrier gas by atmospheric-pressure microplasma-enhanced chemical vapor deposition. A glow microplasma was generated inside the tube by radio frequency (RF) capacitively coupled discharge. X-ray photoelectron spectroscopy spectra showed that the tube inner surface was covered by a SiO₂ thin film. Transparent SiO₂ thin films were obtained with a deposition rate of 230 nm/min at an RF power of 6 W and substrate temperature of 100 °C. The wettability of the SiO₂-coated tube was about 3 times as large as that of an untreated sample tube.     

Plasma etching of high-k and metal gate materials

Etching characteristics of high-k dielectric materials (HfO₂) and metal electrode materials (Pt, TaN) have been studied in high-density chlorine-containing plasmas at pressures around 10 mTorr. The etching of HfO₂ was performed in BCl₃ without rf biasing, giving an etch rate of about 5 nm/min with a high selectivity of >10 over Si and SiO₂. The etching of Pt and TaN was performed in Ar/O₂ with high rf biasing and in Ar/Cl₂ with low rf biasing, respectively, giving a Pt etch rate of about several tens nm/min and a TaN etch rate of about 200 nm/min with a high selectivity of >8 over HfO₂ and SiO₂. The etched profiles were outwardly tapered for Pt, owing to the redeposition of etch or sputter products on feature sidewalls, while the TaN profiles were almost anisotropic, probably owing to the ion-enhanced etching that occurred.     

Calculations of impurity doping effects in CrO/sub 2/

The effects of impurity doping in CrO/sub 2/ have been calculated based on the Cr/sub 9/O/sub 40/ cluster using the method of DV-X /spl alpha/ molecular orbital calculation. Elements (Mo, W) belonging to the same family as Cr and the ones (Zr, Ru, Sn) whose dioxides have the same crystalline structure as the rutile were selected for impurity doping. The calculated results show the large enhancements of the magnetic moment and the Curie temperature by the doping of Zr and Ru, respectively.     

Quantum Bit-commitment for small storage based on quantum one-way permutations

We propose a quantum bit-commitment scheme based on quantum one-way permutations with the unconditionally binding and computationally concealing property. Our scheme reduces exponentially the number of bits which the receiver needs to store until, the opening phase compared with the classical counterpart. Keisuke Tanaka, Ph.D.: He is Assistant Professor of Department of Mathematical and Computing Sciences at Tokyo Institute of Technology. He received his B.S. from Yamanashi University in 1992 and his M.S. and Ph.D. from Japan Advanced Institute of Science and Technology in 1994 and 1997, respectively. For each degree, he majored in computer science. Before joining Tokyo Institute of Technology, he was Research Engineer at NTT Information Sharing Platform Laboratories. His research interests are cryptography, quantum computation, circuit complexity, and the design and analysis of algorithms.